MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.0s	12 errors · 318 warnings · 1529 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-19-50-39-116849-7a6b79e35730-7581 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.28sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 4.28sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' + 4.29sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' + 4.30sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.30sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.33sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.42sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.42sINFOmap_serverCreating + 4.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.50sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.52sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.58sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.59sINFOros2_control_node-12process started with pid [7723] ×2 + 4.59sINFOmove_group-24process started with pid [7738] ×2 + 4.59sINFOparameter_manager_node-25process started with pid [7790] ×2 + 4.59sINFOwaypoint_manager_node-26process started with pid [7791] ×2 + 4.59sINFOmove_joint_resampler_node-27process started with pid [7792] ×2 + 4.59sINFOmove_end_effector_resampler_node-28process started with pid [7793] ×2 + 4.60sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.61sINFOobjective_server_node_main-29process started with pid [7794] ×2 + 4.61sINFOcomponent_container_mt-30process started with pid [7795] ×2 + 4.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.61sINFOcomponent_container_mt-31process started with pid [7796] ×2 + 4.61sINFOexecute_objective_bridge-32process started with pid [7797] ×2 + 4.61sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.61sINFOui_teleop_bridge-33process started with pid [7798] ×2 + 4.61sINFOweb_bridge-34process started with pid [7799] ×2 + 4.61sINFOtf2_web_republisher_node-35process started with pid [7807] ×2 + 4.61sINFOvideo_server-36process started with pid [7808] ×2 + 4.61sINFOweb_bridge_auth_proxy-37process started with pid [7811] ×2 + 4.61sINFOweb_video_auth_proxy-38process started with pid [7812] ×2 + 4.62sINFOcomponent_container_isolated-1process started with pid [7631] ×2 + 4.62sINFOcomponent_container_isolated-2process started with pid [7632] ×2 + 4.62sINFOstatic_transform_publisher-3process started with pid [7633] ×2 + 4.62sINFOstatic_transform_publisher-4process started with pid [7634] ×2 + 4.62sINFOodom_qos_relay.py-5process started with pid [7635] ×2 + 4.62sINFOforward_stereo_publisher.py-6process started with pid [7636] ×2 + 4.62sINFOlidar_flattener.py-7process started with pid [7637] ×2 + 4.62sINFOstatic_transform_publisher-8process started with pid [7638] ×2 + 4.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.63sINFOstatic_transform_publisher-9process started with pid [7639] ×2 + 4.63sINFOscan_to_scan_filter_chain-10process started with pid [7721] ×2 + 4.63sINFOscan_to_scan_filter_chain-11process started with pid [7722] ×2 + 4.63sINFOros2-13process started with pid [7725] ×2 + 4.63sINFOros2-14process started with pid [7727] ×2 + 4.63sINFOros2-15process started with pid [7728] ×2 + 4.63sINFOros2-16process started with pid [7729] ×2 + 4.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.63sINFOros2-17process started with pid [7730] ×2 + 4.63sINFOros2-18process started with pid [7732] ×2 + 4.63sINFOros2-19process started with pid [7733] ×2 + 4.63sINFOros2-20process started with pid [7734] ×2 + 4.63sINFOros2-21process started with pid [7735] ×2 + 4.63sINFOros2-22process started with pid [7736] ×2 + 4.64sINFOros2-23process started with pid [7737] ×2 + 4.64sINFOcontroller_serverCreating controller server + 4.64sINFOcontroller_managerupdate rate is 600 Hz + 4.64sINFOcontroller_managerOverruns handling is : enabled + 4.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.65sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 4.66sINFOlifecycle_manager_localizationCreating + 4.67sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.67sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.67sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.67sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.67sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.67sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.67sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.67sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.68sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.68sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.68sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.68sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.68sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.69sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.69sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.69sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.69sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.69sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.70sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.70sINFOlocal_costmap.local_costmapCreating Costmap + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569116 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569116 ms (missed cycles : 3).[0m ×2 + 4.71sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.71sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.71sINFOmap_serverConfiguring + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.74sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.74sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.75sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.77sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.79sINFOsmoother_serverCreating smoother server + 4.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.80sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.80sINFOamclConfiguring + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.81sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.81sINFOmap_serverActivating + 4.81sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.85sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.87sINFOplanner_serverCreating + 4.91sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.92sINFOglobal_costmap.global_costmapCreating Costmap + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.93sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.93sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.93sINFOamclActivating + 4.93sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.93sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.94sINFOamclSubscribed to map_topic: /map + 4.94sINFOamclSubscribed to scan_topic: /scan_merged + 4.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.95sINFOamclCreated reinitialize_global_localization service + 4.95sINFOamclCreated request_nomotion_update service + 4.95sINFOamclA new map was received + 4.95sINFOamclInitializing particle filter instance + 4.98sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.98sINFOrobot_state_publisherRobot initialized + 4.98sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.99sINFOcontroller_managerReceived robot description from topic. + 4.99sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.02sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.03sINFOvideo_server2026/09/04 19:50:45 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.03sINFOvideo_server2026/09/04 19:50:45 INF configuration loaded from /tmp/moveit-webrtc-778b2d__/mediamtx.yml ×2 + 5.03sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.04sINFOvideo_server2026/09/04 19:50:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.04sINFOvideo_server2026/09/04 19:50:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.06sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.06sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.06sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.07sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.07sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.07sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.07sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.12sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.15sINFObt_navigatorCreating + 5.15sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.21sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.22sINFOwaypoint_followerCreating + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.28sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.28sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.384868 seconds + 5.28sINFOmove_groupLoaded robot model in 0.384868 seconds[0m ×2 + 5.28sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.28sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.28sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.28sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.34sINFOlifecycle_manager_navigationCreating + 5.38sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.41sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.41sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 5.41sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.41sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.41sINFOcontroller_serverConfiguring controller interface + 5.41sINFOcontroller_servergetting progress checker plugins.. + 5.41sINFOcontroller_servergetting goal checker plugins.. + 5.41sINFOcontroller_serverController frequency set to 20.0000Hz + 5.41sINFOlocal_costmap.local_costmapConfiguring + 5.43sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.45sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 5.45sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.50sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.50sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.51sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.54sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.55sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.55sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.56sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.57sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.58sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.58sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.58sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.60sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.60sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.61sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.61sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.62sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.62sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.62sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.62sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.62sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.62sINFOamclParticle filter initialization completed + 5.62sINFOamclInitializing particles from estimated pose and covariance + 5.63sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.63sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.63sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.64sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.64sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.64sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.64sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.64sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.65sINFOcontroller_serverOptimizer reset ×2 + 5.66sINFOcontroller_serverController Server has FollowPath controllers available. + 5.68sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.68sINFOsmoother_serverConfiguring smoother server + 5.71sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.72sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.73sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501606 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501606 ms (missed cycles : 2).[0m ×2 + 5.74sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.74sINFOplanner_serverConfiguring + 5.74sINFOglobal_costmap.global_costmapConfiguring + 5.78sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.80sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.80sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.80sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.81sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.88sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.88sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.88sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.90sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.93sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.93sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.93sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.93sINFOplanner_serverPlanner Server has GridBased planners available. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.94sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.94sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.95sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.96sINFObehavior_serverConfiguring + 5.96sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.97sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.98sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.98sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.99sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.00sINFObehavior_serverConfiguring spin + 6.01sINFObehavior_serverConfiguring backup + 6.02sINFObehavior_serverConfiguring drive_on_heading + 6.03sINFObehavior_serverConfiguring assisted_teleop + 6.04sINFObehavior_serverConfiguring wait + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.04sINFObt_navigatorConfiguring + 6.05sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.07sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.20sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.24sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.24sINFOwaypoint_followerConfiguring + 6.27sINFOmove_group[2026-09-04 19:50:47.092] [moveit_pro_license] [info] ×2 + 6.27sINFOmove_group************************************************* ×4 + 6.27sINFOmove_group* MoveIt Pro License ×2 + 6.27sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.27sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.28sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.28sINFOvelocity_smootherConfiguring velocity smoother + 6.29sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.29sINFOcontroller_serverActivating + 6.29sINFOlocal_costmap.local_costmapActivating + 6.29sINFOlocal_costmap.local_costmapChecking transform + 6.29sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×13 + 6.50sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.50sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.50sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.50sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.50sINFOwaypoint_manager_nodeLoaded robot model in 0.38892 seconds[0m ×2 + 6.50sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.50sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.53sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 6.53sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.65sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.65sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.65sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.65sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.65sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.65sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.65sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.65sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.65sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.66sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.66sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.66sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.66sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.66sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.66sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.67sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.67sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.67sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.67sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.67sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.67sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330444 ms (missed cycles : 2). + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330444 ms (missed cycles : 2).[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.99sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.01sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.20sINFOwaypoint_manager_node[2026-09-04 19:50:48.022] [moveit_pro_license] [info] ×2 + 7.20sINFOwaypoint_manager_node************************************************* ×4 + 7.20sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.20sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.40sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.40sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.40sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.41sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 7.41sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.41sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.41sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.41sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.41sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.41sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.41sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.41sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.41sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.41sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.41sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.41sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.41sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.41sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.41sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.41sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.41sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.52sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.52sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.64sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.64sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.64sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.65sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.65sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.65sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.65sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.75sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.75sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.76sINFOobjective_server_node[2026-09-04 19:50:48.580] [moveit_pro_license] [info] ×2 + 7.76sINFOobjective_server_node************************************************* ×4 + 7.76sINFOobjective_server_node* MoveIt Pro License ×2 + 7.76sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.79sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 7.79sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 7.83sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 7.84sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 7.84sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 7.84sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 7.85sINFOobjective_server_nodeLoaded robot model in 0.0406465 seconds[0m ×2 + 7.85sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.85sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.85sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.85sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.97sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.97sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.97sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.99sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.00sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.07sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.07sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.07sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.10sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.25sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839626 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839626 ms (missed cycles : 2).[0m ×2 + 8.36sINFOros2_control_node[2026-09-04 19:50:49.181] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 8.36sINFOros2_control_node[2026-09-04 19:50:49.185] [info] Controller state will be published at 10 Hz. ×2 + 8.37sINFOros2_control_node[2026-09-04 19:50:49.186] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.40sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.40sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.40sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.41sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.48sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.50sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.50sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.50sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.50sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.50sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.50sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.50sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.54sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.54sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.56sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.57sINFOmove_groupMoveGroup debug mode is ON + 8.57sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.57sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.63sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 8.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 8.68sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 8.68sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 8.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.70sINFOcomponent_container_mtLoaded robot model in 0.445286 seconds[0m ×2 + 8.70sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.70sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.71sINFOros2-21process has finished cleanly [pid 7735] ×2 + 8.75sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 8.75sINFOmove_group ×8 + 8.75sINFOmove_group****************************************************** ×4 + 8.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.75sINFOmove_group* MoveGroup using: ×2 + 8.75sINFOmove_group* - apply_planning_scene_service ×2 + 8.75sINFOmove_group* - clear_octomap_service ×2 + 8.75sINFOmove_group* - get_group_urdf ×2 + 8.75sINFOmove_group* - load_geometry_from_file ×2 + 8.75sINFOmove_group* - get_planning_scene_service ×2 + 8.75sINFOmove_group* - kinematics_service ×2 + 8.75sINFOmove_group* - save_geometry_to_file ×2 + 8.75sINFOmove_group* - GetPlanningGroups ×2 + 8.75sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.75sINFOmove_group[0m ×2 + 8.75sINFOmove_group[92mYou can start planning now![0m ×2 + 8.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.75sINFOplatform_velocity_controllerconfigure successful + 8.75sINFOros2_control_nodeconfigure successful[0m ×6 + 8.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.76sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.76sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.09sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.09sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.09sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.09sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 9.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 9.13sINFOros2-16process has finished cleanly [pid 7729] ×2 + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.14sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.15sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.16sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523105 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523105 ms (missed cycles : 3).[0m ×2 + 9.30sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.39sINFOcomponent_container_mt[2026-09-04 19:50:50.211] [moveit_pro_license] [info] ×2 + 9.39sINFOcomponent_container_mt************************************************* ×4 + 9.39sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.39sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.53sINFOros2_control_node[2026-09-04 19:50:50.346] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 9.53sINFOros2_control_node[2026-09-04 19:50:50.348] [info] Controller state will be published at 10 Hz. ×2 + 9.53sINFOros2_control_node[2026-09-04 19:50:50.349] [info] VelocityForceController 'on_configure' succeeded. ×2 + 9.62sWARNros2_control_nodeCamera render tick took 1.00 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.66sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.66sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.66sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.66sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.73sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.73sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.84sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.84sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 9.84sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.84sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 9.84sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 9.84sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 9.87sINFOros2-20process has finished cleanly [pid 7734] ×2 + 9.90sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 9.90sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 9.90sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 9.90sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 9.90sINFOplatform_velocity_controller_nav2configure successful + 9.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.25sINFOros2-18process has finished cleanly [pid 7732] ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597031 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597031 ms (missed cycles : 3).[0m ×2 + 10.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 10.31sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 10.31sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 10.36sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.36sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.68sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788551449.443 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.72sINFOros2_control_node[2026-09-04 19:50:51.545] [info] Controller state will be published at 20 Hz. ×2 + 10.73sINFOros2_control_node[2026-09-04 19:50:51.546] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.76sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 11.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 11.07sINFOros2-23process has finished cleanly [pid 7737] ×2 + 11.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 11.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 11.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 11.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054470 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054470 ms (missed cycles : 3).[0m ×2 + 11.50sINFOros2_control_node[2026-09-04 19:50:52.323] [info] Controller state will be published at 20 Hz. ×2 + 11.50sINFOros2_control_node[2026-09-04 19:50:52.323] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 11.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 11.85sINFOros2-22process has finished cleanly [pid 7736] ×2 + 11.88sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.88sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.88sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.88sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.88sINFOforce_torque_sensor_broadcasterconfigure successful + 11.89sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.89sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 12.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 12.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 12.21sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 12.21sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 12.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 12.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 12.21sINFOros2-13process has finished cleanly [pid 7725] ×2 + 12.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 12.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 12.26sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 12.26sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 12.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 12.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 12.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 12.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 12.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 12.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 12.28sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 12.28sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748584 ms (missed cycles : 3). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748584 ms (missed cycles : 3).[0m ×2 + 12.60sINFOros2-17process has finished cleanly [pid 7730] ×2 + 12.60sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.60sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.60sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.60sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 12.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 12.66sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.66sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.66sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.66sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.66sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.66sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.67sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.67sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.67sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.67sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.79sINFOlocal_costmap.local_costmapstart + 12.89sWARNcontroller_serverParameter controller_server.verbose not found + 12.89sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.00sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.00sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.00sINFOsmoother_serverActivating + 13.00sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.01sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.01sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.01sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.01sINFOros2-15process has finished cleanly [pid 7728] ×2 + 13.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 13.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 13.10sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.10sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.11sINFOplanner_serverActivating + 13.11sINFOglobal_costmap.global_costmapActivating + 13.11sINFOglobal_costmap.global_costmapChecking transform + 13.11sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×2 + 13.11sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.11sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.11sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.12sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.12sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.12sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.12sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.12sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315699 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315699 ms (missed cycles : 2).[0m ×2 + 13.41sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.41sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.41sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.41sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.41sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl + 13.41sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bvwq8e07 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_m22dm6gt --params-file /tmp/launch_params_u8kb0fyl [0m ×2 + 13.46sINFOros2-19process has finished cleanly [pid 7733] ×2 + 13.47sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 13.47sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 13.47sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.47sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.49sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.49sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.49sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 13.49sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.54sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788551453.462 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.64sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788551452.822 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.69sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.69sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.80sINFOros2-14process has finished cleanly [pid 7727] ×2 + 13.88sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 5.684ms + 14.11sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788551454.918061, but only time 1788551455.074066 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319634 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.319634 ms (missed cycles : 3).[0m ×2 + 14.61sINFOglobal_costmap.global_costmapstart + 14.95sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 15.66sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.66sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 15.76sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.76sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.77sINFObehavior_serverActivating + 15.77sINFObehavior_serverActivating spin + 15.77sINFObehavior_serverActivating backup + 15.77sINFObehavior_serverActivating drive_on_heading + 15.77sINFObehavior_serverActivating assisted_teleop + 15.77sINFObehavior_serverActivating wait + 15.77sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.87sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.87sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.87sINFObt_navigatorActivating + 15.93sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.04sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.04sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.04sINFOwaypoint_followerActivating + 16.04sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.14sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.14sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.15sINFOvelocity_smootherActivating + 16.15sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.26sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.26sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.26sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 17.44sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 18.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.81sINFOobjective_server_nodecaller: ×10 + 18.81sINFOobjective_server_nodetype: 0 ×10 + 18.81sINFOobjective_server_nodename: "" ×10 + 18.81sINFOobjective_server_nodeinstance_id: "" ×10 + 18.81sINFOobjective_server_node ×10 + 18.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.84sINFOmove_groupClearing octomap...[0m ×2 + 18.84sINFOmove_groupOctomap cleared.[0m ×2 + 18.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 19.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 19.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 20.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 20.50sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.77sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 21.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	64.5s	3 errors · 291 warnings · 254 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.085ms + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686087 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686087 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.592ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301949 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301949 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 1.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.306ms + 1.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185345 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185345 ms (missed cycles : 2).[0m ×2 + 2.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.539ms + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOjoint_trajectory_controllerGot request to cancel goal + 2.67sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.67sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788551670.36871529 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.75sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.93sINFOamclParticle filter update iteration stats: 4838 particles 723 points - 7.547ms + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677881 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677881 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.25sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.25sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.29sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788551670.95328975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.696ms + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439009 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439009 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855067 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855067 ms (missed cycles : 3).[0m ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.89sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.89sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.89sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.89sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.32sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207854 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207854 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884519 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884519 ms (missed cycles : 2).[0m ×2 + 7.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×8 + 8.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.955ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845666 ms (missed cycles : 5). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845666 ms (missed cycles : 5).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.204ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809159 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809159 ms (missed cycles : 3).[0m ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.525ms + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.791ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602491 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602491 ms (missed cycles : 3).[0m ×2 + 10.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 11.48sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.52sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 7.210ms + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267971 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267971 ms (missed cycles : 2).[0m ×2 + 12.13sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 4.284ms + 12.73sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.428ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992860 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992860 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.829ms + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292066 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292066 ms (missed cycles : 3).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815340 ms (missed cycles : 3). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815340 ms (missed cycles : 3).[0m ×2 + 15.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595684 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595684 ms (missed cycles : 3).[0m ×2 + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375241 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375241 ms (missed cycles : 2).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 18.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667752 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667752 ms (missed cycles : 3).[0m ×2 + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328665 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328665 ms (missed cycles : 2).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771283 ms (missed cycles : 2). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771283 ms (missed cycles : 2).[0m ×2 + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.222ms + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861193 ms (missed cycles : 5). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861193 ms (missed cycles : 5).[0m ×2 + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 22.39sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259807 ms (missed cycles : 2). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259807 ms (missed cycles : 2).[0m ×2 + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 23.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660637 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660637 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946423 ms (missed cycles : 3). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946423 ms (missed cycles : 3).[0m ×2 + 24.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.209ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040022 ms (missed cycles : 2). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040022 ms (missed cycles : 2).[0m ×2 + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.879ms + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013400 ms (missed cycles : 3). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013400 ms (missed cycles : 3).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.925ms + 27.58sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044138 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044138 ms (missed cycles : 2).[0m ×2 + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.665ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615320 ms (missed cycles : 3). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.615320 ms (missed cycles : 3).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.150ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912673 ms (missed cycles : 5). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912673 ms (missed cycles : 5).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.601ms + 30.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083109 ms (missed cycles : 5). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.083109 ms (missed cycles : 5).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.631ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539069 ms (missed cycles : 3). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539069 ms (missed cycles : 3).[0m ×2 + 32.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 33.09sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222521 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222521 ms (missed cycles : 4).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132528 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132528 ms (missed cycles : 2).[0m ×2 + 34.27sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.27sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 34.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 34.53sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099343 ms (missed cycles : 2). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099343 ms (missed cycles : 2).[0m ×2 + 35.45sINFOobjective_server_nodePlanning for 16 path waypoints. ×9 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246963 ms (missed cycles : 4). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246963 ms (missed cycles : 4).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129991 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129991 ms (missed cycles : 2).[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms + 38.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.914ms + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159578 ms (missed cycles : 3). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159578 ms (missed cycles : 3).[0m ×2 + 39.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864574 ms (missed cycles : 3). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864574 ms (missed cycles : 3).[0m ×2 + 39.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 40.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878871 ms (missed cycles : 6). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878871 ms (missed cycles : 6).[0m ×2 + 41.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268832 ms (missed cycles : 3). + 42.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268832 ms (missed cycles : 3).[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488151 ms (missed cycles : 3). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488151 ms (missed cycles : 3).[0m ×2 + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966486 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966486 ms (missed cycles : 2).[0m ×2 + 44.18sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 44.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 44.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 45.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395107 ms (missed cycles : 3). + 45.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395107 ms (missed cycles : 3).[0m ×2 + 46.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.781ms + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636259 ms (missed cycles : 4). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636259 ms (missed cycles : 4).[0m ×2 + 46.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 47.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 47.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857973 ms (missed cycles : 2). + 47.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857973 ms (missed cycles : 2).[0m ×2 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177839 ms (missed cycles : 4). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177839 ms (missed cycles : 4).[0m ×2 + 48.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573025 ms (missed cycles : 3). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573025 ms (missed cycles : 3).[0m ×2 + 50.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952207 ms (missed cycles : 2). + 50.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952207 ms (missed cycles : 2).[0m ×2 + 51.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114109 ms (missed cycles : 2). + 51.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114109 ms (missed cycles : 2).[0m ×2 + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844277 ms (missed cycles : 5). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844277 ms (missed cycles : 5).[0m ×2 + 53.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690784 ms (missed cycles : 3). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690784 ms (missed cycles : 3).[0m ×2 + 54.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.113ms + 54.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317573 ms (missed cycles : 2). + 54.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317573 ms (missed cycles : 2).[0m ×2 + 55.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096542 ms (missed cycles : 2). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096542 ms (missed cycles : 2).[0m ×2 + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980135 ms (missed cycles : 5). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.980135 ms (missed cycles : 5).[0m ×2 + 57.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.004ms + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245728 ms (missed cycles : 2). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245728 ms (missed cycles : 2).[0m ×2 + 59.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271650 ms (missed cycles : 2). + 59.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271650 ms (missed cycles : 2).[0m ×2 + 60.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323615 ms (missed cycles : 2). + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323615 ms (missed cycles : 2).[0m ×2 + 61.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105173 ms (missed cycles : 2). + 61.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105173 ms (missed cycles : 2).[0m ×2 + 62.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446905 ms (missed cycles : 4). + 62.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446905 ms (missed cycles : 4).[0m ×2 + 63.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974649 ms (missed cycles : 2). + 63.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974649 ms (missed cycles : 2).[0m ×2 + 63.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.052ms + 64.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214047 ms (missed cycles : 5). + 64.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214047 ms (missed cycles : 5).[0m ×2 + 64.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 65.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 65.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553694 ms (missed cycles : 3). + 65.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553694 ms (missed cycles : 3).[0m ×2 + 65.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 66.54sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 66.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938102 ms (missed cycles : 3). + 66.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938102 ms (missed cycles : 3).[0m ×2 + 67.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 67.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 67.19sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788551734.85344410 seconds ×3 + 67.25sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 67.25sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 67.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894017 ms (missed cycles : 3). + 67.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894017 ms (missed cycles : 3).[0m ×2 + 67.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 67.74sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 67.77sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788551735.43359900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 67.85sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 67.85sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.992ms + 68.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553437 ms (missed cycles : 4). + 68.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553437 ms (missed cycles : 4).[0m ×2 + 69.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266086 ms (missed cycles : 4). + 69.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266086 ms (missed cycles : 4).[0m ×2 + 70.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 70.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	243 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267749 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267749 ms (missed cycles : 4).[0m ×2 + 1.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 1.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122165 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122165 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551511.44738960 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180662 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180662 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551512.02584124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.19sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 2.560ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844580 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844580 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116832 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116832 ms (missed cycles : 2).[0m ×2 + 5.34sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234836 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234836 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.37sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606482 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606482 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361505 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361505 ms (missed cycles : 3).[0m ×2 + 8.69sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 4.231ms + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476645 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476645 ms (missed cycles : 3).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 3.769ms + 9.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.055ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216339 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216339 ms (missed cycles : 3).[0m ×2 + 10.88sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.993ms + 11.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394816 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394816 ms (missed cycles : 3).[0m ×2 + 12.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 12.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032283 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032283 ms (missed cycles : 2).[0m ×2 + 13.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 13.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856208 ms (missed cycles : 3). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856208 ms (missed cycles : 3).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024557 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024557 ms (missed cycles : 2).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 15.94sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268961 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268961 ms (missed cycles : 2).[0m ×2 + 16.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.827255 ms (missed cycles : 5). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.827255 ms (missed cycles : 5).[0m ×2 + 17.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×6 + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366931 ms (missed cycles : 3). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366931 ms (missed cycles : 3).[0m ×2 + 18.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.712ms + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.839ms + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324238 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324238 ms (missed cycles : 2).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.952ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153439 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153439 ms (missed cycles : 2).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665287 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665287 ms (missed cycles : 2).[0m ×2 + 21.39sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 21.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 22.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124516 ms (missed cycles : 2). + 22.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124516 ms (missed cycles : 2).[0m ×2 + 22.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314666 ms (missed cycles : 2). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314666 ms (missed cycles : 2).[0m ×2 + 23.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.376ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636280 ms (missed cycles : 3). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636280 ms (missed cycles : 3).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.147ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121860 ms (missed cycles : 4). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121860 ms (missed cycles : 4).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 26.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774869 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774869 ms (missed cycles : 2).[0m ×2 + 26.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.546ms + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727097 ms (missed cycles : 2). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727097 ms (missed cycles : 2).[0m ×2 + 28.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.975ms + 28.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390149 ms (missed cycles : 3). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390149 ms (missed cycles : 3).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.100ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882573 ms (missed cycles : 3). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882573 ms (missed cycles : 3).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.909ms + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858169 ms (missed cycles : 5). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858169 ms (missed cycles : 5).[0m ×2 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581745 ms (missed cycles : 3). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581745 ms (missed cycles : 3).[0m ×2 + 32.22sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870816 ms (missed cycles : 2). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870816 ms (missed cycles : 2).[0m ×2 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 33.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 33.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075325 ms (missed cycles : 4). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075325 ms (missed cycles : 4).[0m ×2 + 34.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.294ms + 34.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997115 ms (missed cycles : 3). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997115 ms (missed cycles : 3).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859762 ms (missed cycles : 5). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859762 ms (missed cycles : 5).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881834 ms (missed cycles : 3). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881834 ms (missed cycles : 3).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448466 ms (missed cycles : 4). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448466 ms (missed cycles : 4).[0m ×2 + 39.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 39.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276296 ms (missed cycles : 3). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276296 ms (missed cycles : 3).[0m ×2 + 40.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024028 ms (missed cycles : 3). + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024028 ms (missed cycles : 3).[0m ×2 + 41.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198304 ms (missed cycles : 5). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.198304 ms (missed cycles : 5).[0m ×2 + 42.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086508 ms (missed cycles : 5). + 42.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086508 ms (missed cycles : 5).[0m ×2 + 43.26sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 43.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093710 ms (missed cycles : 4). + 43.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093710 ms (missed cycles : 4).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999093 ms (missed cycles : 3). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999093 ms (missed cycles : 3).[0m ×2 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992485 ms (missed cycles : 3). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992485 ms (missed cycles : 3).[0m ×2 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211028 ms (missed cycles : 2). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211028 ms (missed cycles : 2).[0m ×2 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774121 ms (missed cycles : 3). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774121 ms (missed cycles : 3).[0m ×2 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831061 ms (missed cycles : 2). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831061 ms (missed cycles : 2).[0m ×2 + 49.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192987 ms (missed cycles : 5). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.192987 ms (missed cycles : 5).[0m ×2 + 51.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673736 ms (missed cycles : 3). + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673736 ms (missed cycles : 3).[0m ×2 + 52.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850327 ms (missed cycles : 5). + 52.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850327 ms (missed cycles : 5).[0m ×2 + 52.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 53.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004080 ms (missed cycles : 4). + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.004080 ms (missed cycles : 4).[0m ×2 + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578114 ms (missed cycles : 5). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578114 ms (missed cycles : 5).[0m ×2 + 55.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 55.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499832 ms (missed cycles : 3). + 55.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499832 ms (missed cycles : 3).[0m ×2 + 56.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.303ms + 56.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424917 ms (missed cycles : 3). + 56.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424917 ms (missed cycles : 3).[0m ×2 + 57.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5).[0m ×2 + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3). + 58.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3).[0m ×2 + 59.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 59.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3). + 59.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3).[0m ×2 + 60.36sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551568.74597740 seconds ×3 + 60.43sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.43sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.92sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2). + 60.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2).[0m ×2 + 60.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551569.33062291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 60.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.719ms + 61.33sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 61.66sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2). + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2).[0m ×2 + 63.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2). + 63.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2).[0m ×2 + 64.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2). + 64.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	251 warnings · 202 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.74sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.34sINFOobjective_server_nodecaller: ×4 + 3.34sINFOobjective_server_nodetype: 0 ×4 + 3.34sINFOobjective_server_nodename: "" ×4 + 3.34sINFOobjective_server_nodeinstance_id: "" ×4 + 3.34sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2 + 6.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827492 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827492 ms (missed cycles : 4).[0m ×2 + 8.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.322ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460080 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460080 ms (missed cycles : 3).[0m ×2 + 9.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.729ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389702 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389702 ms (missed cycles : 2).[0m ×2 + 10.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.190ms + 10.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.728ms + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494234 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494234 ms (missed cycles : 2).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.979ms + 11.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 11.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531740 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531740 ms (missed cycles : 3).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.290ms + 12.82sINFOamclParticle filter update iteration stats: 3554 particles 723 points - 9.851ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094597 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094597 ms (missed cycles : 2).[0m ×2 + 13.38sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 4.237ms + 13.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422789 ms (missed cycles : 4). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422789 ms (missed cycles : 4).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 15.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573315 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573315 ms (missed cycles : 3).[0m ×2 + 15.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158747 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158747 ms (missed cycles : 2).[0m ×2 + 16.70sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771333 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771333 ms (missed cycles : 3).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 17.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134889 ms (missed cycles : 5). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134889 ms (missed cycles : 5).[0m ×2 + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 19.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086643 ms (missed cycles : 3). + 19.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086643 ms (missed cycles : 3).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms ×2 + 19.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123521 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123521 ms (missed cycles : 2).[0m ×2 + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.846ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049014 ms (missed cycles : 2). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049014 ms (missed cycles : 2).[0m ×2 + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 22.01sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343246 ms (missed cycles : 3). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343246 ms (missed cycles : 3).[0m ×2 + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358309 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358309 ms (missed cycles : 3).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 24.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946596 ms (missed cycles : 3). + 24.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946596 ms (missed cycles : 3).[0m ×2 + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.767ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394675 ms (missed cycles : 3). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394675 ms (missed cycles : 3).[0m ×2 + 26.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 26.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.165ms + 26.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182402 ms (missed cycles : 2). + 26.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182402 ms (missed cycles : 2).[0m ×2 + 27.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 27.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014762 ms (missed cycles : 3). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014762 ms (missed cycles : 3).[0m ×2 + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143043 ms (missed cycles : 4). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143043 ms (missed cycles : 4).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857176 ms (missed cycles : 3). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857176 ms (missed cycles : 3).[0m ×2 + 30.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082248 ms (missed cycles : 2). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082248 ms (missed cycles : 2).[0m ×2 + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.400ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.813ms + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904074 ms (missed cycles : 4). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904074 ms (missed cycles : 4).[0m ×2 + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 32.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 32.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174563 ms (missed cycles : 2). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174563 ms (missed cycles : 2).[0m ×2 + 33.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043692 ms (missed cycles : 4). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043692 ms (missed cycles : 4).[0m ×2 + 34.50sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920844 ms (missed cycles : 3). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920844 ms (missed cycles : 3).[0m ×2 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294604 ms (missed cycles : 2). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294604 ms (missed cycles : 2).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128866 ms (missed cycles : 3). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128866 ms (missed cycles : 3).[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270080 ms (missed cycles : 2). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270080 ms (missed cycles : 2).[0m ×2 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801581 ms (missed cycles : 3). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801581 ms (missed cycles : 3).[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509952 ms (missed cycles : 4). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509952 ms (missed cycles : 4).[0m ×2 + 41.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679559 ms (missed cycles : 3). + 41.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679559 ms (missed cycles : 3).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906943 ms (missed cycles : 3). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906943 ms (missed cycles : 3).[0m ×2 + 43.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899201 ms (missed cycles : 5). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899201 ms (missed cycles : 5).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018012 ms (missed cycles : 3). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018012 ms (missed cycles : 3).[0m ×2 + 45.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400083 ms (missed cycles : 3). + 45.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400083 ms (missed cycles : 3).[0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064995 ms (missed cycles : 4). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064995 ms (missed cycles : 4).[0m ×2 + 48.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721012 ms (missed cycles : 2). + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721012 ms (missed cycles : 2).[0m ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870179 ms (missed cycles : 3). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870179 ms (missed cycles : 3).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 50.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337146 ms (missed cycles : 2). + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337146 ms (missed cycles : 2).[0m ×2 + 51.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306998 ms (missed cycles : 5). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306998 ms (missed cycles : 5).[0m ×2 + 52.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013359 ms (missed cycles : 5). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013359 ms (missed cycles : 5).[0m ×2 + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951797 ms (missed cycles : 2). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951797 ms (missed cycles : 2).[0m ×2 + 53.90sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 53.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715358 ms (missed cycles : 5). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.715358 ms (missed cycles : 5).[0m ×2 + 55.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371648 ms (missed cycles : 3). + 55.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371648 ms (missed cycles : 3).[0m ×2 + 55.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718564 ms (missed cycles : 3). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718564 ms (missed cycles : 3).[0m ×2 + 57.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460948 ms (missed cycles : 6). + 57.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460948 ms (missed cycles : 6).[0m ×2 + 58.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495747 ms (missed cycles : 4). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495747 ms (missed cycles : 4).[0m ×2 + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926157 ms (missed cycles : 3). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926157 ms (missed cycles : 3).[0m ×2 + 59.41sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 59.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 60.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 60.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788551798.59528399 seconds ×3 + 60.20sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.20sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128117 ms (missed cycles : 4). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128117 ms (missed cycles : 4).[0m ×2 + 60.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.62sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.67sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788551799.18000174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.70sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.07sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 61.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 61.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146002 ms (missed cycles : 2). + 61.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146002 ms (missed cycles : 2).[0m ×2 + 62.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180625 ms (missed cycles : 4). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180625 ms (missed cycles : 4).[0m ×2 + 63.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997174 ms (missed cycles : 5). + 63.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997174 ms (missed cycles : 5).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.8s	234 warnings · 218 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 0.57sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.731ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551607.69966435 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551608.27373481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.14sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.14sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.14sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2).[0m ×2 + 7.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632746 ms (missed cycles : 5). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632746 ms (missed cycles : 5).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251214 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251214 ms (missed cycles : 2).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.118ms + 9.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.938ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839603 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839603 ms (missed cycles : 3).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.215ms + 10.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.619ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936732 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936732 ms (missed cycles : 2).[0m ×2 + 11.08sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.127ms + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435850 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435850 ms (missed cycles : 2).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.655ms + 12.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.857ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289475 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289475 ms (missed cycles : 2).[0m ×2 + 12.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.621ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.722ms + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766006 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766006 ms (missed cycles : 2).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.731ms + 14.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.392ms + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608905 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608905 ms (missed cycles : 3).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.257ms + 15.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.529ms + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142342 ms (missed cycles : 4). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142342 ms (missed cycles : 4).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.431ms + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663800 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663800 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 4756 particles 723 points - 9.549ms + 17.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 17.61sINFOamclParticle filter update iteration stats: 3949 particles 723 points - 7.937ms + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991334 ms (missed cycles : 5). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991334 ms (missed cycles : 5).[0m ×2 + 18.23sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 6.092ms + 18.82sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 7.977ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973206 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973206 ms (missed cycles : 2).[0m ×2 + 19.41sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 3.894ms + 20.04sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.885ms + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306574 ms (missed cycles : 3). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306574 ms (missed cycles : 3).[0m ×2 + 20.65sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.089ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874835 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874835 ms (missed cycles : 2).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 21.88sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268680 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268680 ms (missed cycles : 2).[0m ×2 + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 23.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621542 ms (missed cycles : 3). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621542 ms (missed cycles : 3).[0m ×2 + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215919 ms (missed cycles : 2). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215919 ms (missed cycles : 2).[0m ×2 + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.256ms + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332052 ms (missed cycles : 2). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332052 ms (missed cycles : 2).[0m ×2 + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905274 ms (missed cycles : 3). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905274 ms (missed cycles : 3).[0m ×2 + 26.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 27.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.780ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675297 ms (missed cycles : 5). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.675297 ms (missed cycles : 5).[0m ×2 + 28.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms ×2 + 28.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.055ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909552 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909552 ms (missed cycles : 3).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.833ms + 29.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.810ms + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193135 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193135 ms (missed cycles : 2).[0m ×2 + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.276ms + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402284 ms (missed cycles : 3). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402284 ms (missed cycles : 3).[0m ×2 + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 31.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768510 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768510 ms (missed cycles : 2).[0m ×2 + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 32.92sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 32.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.358ms + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358188 ms (missed cycles : 3). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358188 ms (missed cycles : 3).[0m ×2 + 33.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871689 ms (missed cycles : 2). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871689 ms (missed cycles : 2).[0m ×2 + 34.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 34.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.308ms + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090701 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090701 ms (missed cycles : 3).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294473 ms (missed cycles : 2). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294473 ms (missed cycles : 2).[0m ×2 + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132032 ms (missed cycles : 2). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132032 ms (missed cycles : 2).[0m ×2 + 37.63sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.03sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431524 ms (missed cycles : 5). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.431524 ms (missed cycles : 5).[0m ×2 + 38.43sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 39.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545425 ms (missed cycles : 3). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545425 ms (missed cycles : 3).[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055010 ms (missed cycles : 2). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055010 ms (missed cycles : 2).[0m ×2 + 40.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.627ms + 41.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478003 ms (missed cycles : 2). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478003 ms (missed cycles : 2).[0m ×2 + 41.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 42.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146750 ms (missed cycles : 3). + 42.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146750 ms (missed cycles : 3).[0m ×2 + 43.10sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 43.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883137 ms (missed cycles : 5). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883137 ms (missed cycles : 5).[0m ×2 + 43.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768267 ms (missed cycles : 5). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768267 ms (missed cycles : 5).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099142 ms (missed cycles : 5). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099142 ms (missed cycles : 5).[0m ×2 + 46.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571004 ms (missed cycles : 2). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571004 ms (missed cycles : 2).[0m ×2 + 47.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426085 ms (missed cycles : 3). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426085 ms (missed cycles : 3).[0m ×2 + 48.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904446 ms (missed cycles : 3). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904446 ms (missed cycles : 3).[0m ×2 + 49.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 50.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802341 ms (missed cycles : 3). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802341 ms (missed cycles : 3).[0m ×2 + 51.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997268 ms (missed cycles : 3). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997268 ms (missed cycles : 3).[0m ×2 + 52.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186777 ms (missed cycles : 2). + 52.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186777 ms (missed cycles : 2).[0m ×2 + 53.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 53.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359076 ms (missed cycles : 2). + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359076 ms (missed cycles : 2).[0m ×2 + 54.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022953 ms (missed cycles : 4). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022953 ms (missed cycles : 4).[0m ×2 + 54.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788551659.50387931 seconds ×3 + 54.80sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 54.80sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 55.00sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.00sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.24sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.28sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788551660.08529949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.276ms + 55.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911821 ms (missed cycles : 3). + 55.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911821 ms (missed cycles : 3).[0m ×2 + 56.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388577 ms (missed cycles : 3). + 56.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388577 ms (missed cycles : 3).[0m ×2 + 57.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590543 ms (missed cycles : 4). + 57.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590543 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	179 warnings · 379 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.92sINFOobjective_server_nodecaller: ×12 + 0.92sINFOobjective_server_nodetype: 0 ×12 + 0.92sINFOobjective_server_nodename: "" ×12 + 0.92sINFOobjective_server_nodeinstance_id: "" ×12 + 0.92sINFOobjective_server_node ×12 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.96sINFOmove_groupClearing octomap...[0m ×2 + 0.96sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 2.61sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×12 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269923 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269923 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021633 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021633 ms (missed cycles : 2).[0m ×2 + 8.12sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654266 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654266 ms (missed cycles : 3).[0m ×2 + 8.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895979 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895979 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839989 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839989 ms (missed cycles : 2).[0m ×2 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166397 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166397 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392230 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392230 ms (missed cycles : 3).[0m ×2 + 13.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×8 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794645 ms (missed cycles : 5). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794645 ms (missed cycles : 5).[0m ×2 + 14.28sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 3.100ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856034 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856034 ms (missed cycles : 3).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369451 ms (missed cycles : 3). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369451 ms (missed cycles : 3).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112391 ms (missed cycles : 3). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112391 ms (missed cycles : 3).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086227 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086227 ms (missed cycles : 2).[0m ×2 + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516313 ms (missed cycles : 4). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516313 ms (missed cycles : 4).[0m ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499495 ms (missed cycles : 3). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499495 ms (missed cycles : 3).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940171 ms (missed cycles : 5). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940171 ms (missed cycles : 5).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449998 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449998 ms (missed cycles : 3).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473657 ms (missed cycles : 2). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473657 ms (missed cycles : 2).[0m ×2 + 23.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727088 ms (missed cycles : 3). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727088 ms (missed cycles : 3).[0m ×2 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912326 ms (missed cycles : 2). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912326 ms (missed cycles : 2).[0m ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415475 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415475 ms (missed cycles : 2).[0m ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484637 ms (missed cycles : 4). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.484637 ms (missed cycles : 4).[0m ×2 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529165 ms (missed cycles : 3). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529165 ms (missed cycles : 3).[0m ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338048 ms (missed cycles : 3). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338048 ms (missed cycles : 3).[0m ×2 + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652729 ms (missed cycles : 3). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652729 ms (missed cycles : 3).[0m ×2 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130615 ms (missed cycles : 2). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130615 ms (missed cycles : 2).[0m ×2 + 33.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604566 ms (missed cycles : 2). + 33.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604566 ms (missed cycles : 2).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627781 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627781 ms (missed cycles : 3).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182075 ms (missed cycles : 2). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182075 ms (missed cycles : 2).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971557 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971557 ms (missed cycles : 3).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255700 ms (missed cycles : 2). + 38.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255700 ms (missed cycles : 2).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268499 ms (missed cycles : 4). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268499 ms (missed cycles : 4).[0m ×2 + 40.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903067 ms (missed cycles : 3). + 40.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903067 ms (missed cycles : 3).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681671 ms (missed cycles : 3). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681671 ms (missed cycles : 3).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805737 ms (missed cycles : 2). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805737 ms (missed cycles : 2).[0m ×2 + 42.63sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.635ms + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082591 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082591 ms (missed cycles : 2).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4).[0m ×2 + 45.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2). + 45.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3).[0m ×2 + 46.55sINFOjoint_trajectory_controllerGoal reached, success! + 46.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551505.28974652 seconds ×3 + 46.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551505.86723495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3). + 47.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3).[0m ×2 + 47.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 48.30sINFOobjective_server_nodeFound path in 0 iterations (2.57e-05 s). ×2 + 48.37sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3).[0m ×2 + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	147 warnings · 183 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105718 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105718 ms (missed cycles : 2).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190876 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190876 ms (missed cycles : 2).[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.89sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788551575.11075521 seconds ×3 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308143 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308143 ms (missed cycles : 2).[0m ×2 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.43sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.43sINFOobjective_server_nodecaller: ×4 + 3.43sINFOobjective_server_nodetype: 0 ×4 + 3.43sINFOobjective_server_nodename: "" ×4 + 3.43sINFOobjective_server_nodeinstance_id: "" ×4 + 3.43sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788551576.67953134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550366 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550366 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593788 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593788 ms (missed cycles : 3).[0m ×2 + 5.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.11sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258733 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258733 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455227 ms (missed cycles : 4). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455227 ms (missed cycles : 4).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664069 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664069 ms (missed cycles : 3).[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.050ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288642 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288642 ms (missed cycles : 2).[0m ×2 + 9.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.433ms + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.646ms + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382554 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382554 ms (missed cycles : 3).[0m ×2 + 10.25sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.052ms + 10.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.400ms + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955749 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955749 ms (missed cycles : 2).[0m ×2 + 11.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 11.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.302ms + 12.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.647ms + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624295 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624295 ms (missed cycles : 3).[0m ×2 + 12.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.058ms + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685841 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685841 ms (missed cycles : 3).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 13.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118848 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118848 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.335ms + 15.07sINFOamclParticle filter update iteration stats: 4125 particles 723 points - 7.771ms + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488737 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488737 ms (missed cycles : 2).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 6.111ms + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429746 ms (missed cycles : 5). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.429746 ms (missed cycles : 5).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 4.416ms + 16.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×6 + 16.89sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 4.093ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465905 ms (missed cycles : 3). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465905 ms (missed cycles : 3).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1118 particles 723 points - 2.782ms + 18.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.464ms + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469504 ms (missed cycles : 3). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469504 ms (missed cycles : 3).[0m ×2 + 18.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 19.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249449 ms (missed cycles : 4). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249449 ms (missed cycles : 4).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512478 ms (missed cycles : 3). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512478 ms (missed cycles : 3).[0m ×2 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 21.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335165 ms (missed cycles : 3). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335165 ms (missed cycles : 3).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.353ms + 23.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624268 ms (missed cycles : 3). + 23.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624268 ms (missed cycles : 3).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565294 ms (missed cycles : 4). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565294 ms (missed cycles : 4).[0m ×2 + 24.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 24.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 25.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884325 ms (missed cycles : 5). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.884325 ms (missed cycles : 5).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046980 ms (missed cycles : 4). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046980 ms (missed cycles : 4).[0m ×2 + 26.70sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 26.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253778 ms (missed cycles : 2). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253778 ms (missed cycles : 2).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.828ms + 28.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929810 ms (missed cycles : 5). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929810 ms (missed cycles : 5).[0m ×2 + 29.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.597ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526046 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526046 ms (missed cycles : 2).[0m ×2 + 30.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479727 ms (missed cycles : 3). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479727 ms (missed cycles : 3).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 32.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3).[0m ×2 + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3).[0m ×2 + 33.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 34.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.731ms + 34.48sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551607.69966435 seconds ×3 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3).[0m ×2 + 34.59sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.59sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 34.69sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.69sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.05sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551608.27373481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 35.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2).[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2). + 37.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.2s	106 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460948 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.460948 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495747 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495747 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926157 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926157 ms (missed cycles : 3).[0m ×2 + 2.07sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.74sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788551798.59528399 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.86sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128117 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128117 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788551799.18000174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.36sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.370ms + 4.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146002 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146002 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180625 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180625 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997174 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997174 ms (missed cycles : 5).[0m ×2 + 7.23sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 7.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533946 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533946 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163888 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163888 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357001 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357001 ms (missed cycles : 3).[0m ×2 + 9.80sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.83sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 10.12sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 10.49sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153593 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153593 ms (missed cycles : 2).[0m ×2 + 10.89sINFOobjective_server_nodeFound path in 33 iterations (0.0343055 s). ×2 + 11.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042329 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042329 ms (missed cycles : 2).[0m ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.12sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 12.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 12.72sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906885 ms (missed cycles : 5). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906885 ms (missed cycles : 5).[0m ×2 + 12.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223651 ms (missed cycles : 3). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223651 ms (missed cycles : 3).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017094 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017094 ms (missed cycles : 2).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.459ms + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733672 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733672 ms (missed cycles : 2).[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.100ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2).[0m ×2 + 17.43sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 17.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 17.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.974ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2).[0m ×2 + 18.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.194ms + 18.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551814.80616903 seconds ×3 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2).[0m ×2 + 19.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.50sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551815.43073106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.58sINFOmove_groupClearing octomap...[0m ×2 + 19.58sINFOmove_groupOctomap cleared.[0m ×2 + 19.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.949ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4).[0m ×2 + 20.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551816.06086349 seconds ×3 + 20.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551816.63041139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3).[0m ×2 + 21.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551817.23053432 seconds ×3 + 21.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2).[0m ×2 + 22.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.49sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 22.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	100 errors · 40 warnings · 516 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2).[0m ×2 + 0.44sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.974ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.194ms + 1.95sINFOjoint_trajectory_controllerGoal reached, success! + 1.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551814.80616903 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.52sINFOobjective_server_nodecaller: ×4 + 2.52sINFOobjective_server_nodetype: 0 ×4 + 2.52sINFOobjective_server_nodename: "" ×4 + 2.52sINFOobjective_server_nodeinstance_id: "" ×4 + 2.52sINFOobjective_server_node ×4 + 2.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551815.43073106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.60sINFOmove_groupClearing octomap...[0m ×2 + 2.60sINFOmove_groupOctomap cleared.[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.949ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551816.06086349 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551816.63041139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551817.23053432 seconds ×3 + 4.64sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2).[0m ×2 + 5.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.51sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760249 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760249 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811101 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811101 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961977 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961977 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614129 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614129 ms (missed cycles : 2).[0m ×2 + 10.28sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.29sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORweb_video_auth_proxy-38process has died [pid 7812, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.29sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.31sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.33sERRORweb_bridge_auth_proxy-37process has died [pid 7811, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.33sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.33sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.34sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.35sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.36sINFOvideo_server-36process has finished cleanly [pid 7808] ×2 + 10.36sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.37sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.38sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.39sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.40sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.42sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.43sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.44sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.45sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.46sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.46sINFOcontroller_managerShutdown request received.... + 10.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.46sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.46sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.46sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.46sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.46sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.46sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.47sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.47sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.47sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.47sINFOcontroller_managerShutting down the controller manager. + 10.47sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.48sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.50sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.50sERRORmove_group-24process has died [pid 7738, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_ip7muss4 --params-file /tmp/launch_params_973ezvmp --params-file /tmp/launch_params_gr6gxen_ --params-file /tmp/launch_params_kg8c0r3t --params-file /tmp/launch_params_01jwowjv --params-file /tmp/launch_params_d378h5qd']. ×2 + 10.51sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.51sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.52sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.53sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.54sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.55sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.56sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.56sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.56sINFOmap_serverDeactivating + 10.56sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.57sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.57sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.57sINFOcontroller_serverDeactivating + 10.57sINFOlocal_costmap.local_costmapDeactivating + 10.57sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.57sINFOvideo_server2026/09/04 19:57:03 INF shutting down gracefully ×2 + 10.57sINFOvideo_server2026/09/04 19:57:03 INF [WebRTC] closing ×2 + 10.57sINFOvideo_server2026/09/04 19:57:03 INF [RTSP] closing ×2 + 10.57sINFOvideo_server2026/09/04 19:57:03 INF waiting for running hooks ×2 + 10.57sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.57sINFOmap_serverCleaning up + 10.57sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.57sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.57sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.57sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.57sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.57sERRORmove_groupStack trace (most recent call last) in thread 8414: ×2 + 10.57sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.57sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f218ac42a63, in __clone ×2 + 10.57sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f218abb5aa3, in ×2 + 10.57sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f218ae47db3, in ×2 + 10.57sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f218b5aca94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.57sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f218b1d9620, in rclcpp::Rate::sleep() ×2 + 10.57sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f218b11bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.57sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f218b0dd087, in ×2 + 10.57sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f218ae16390, in __cxa_throw ×2 + 10.57sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f218ae00a54, in std::terminate() ×2 + 10.57sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f218ae160d9, in ×2 + 10.57sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.57sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.57sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.57sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.57sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.57sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.57sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.57sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.57sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f218ae00ff4, in ×2 + 10.57sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.57sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f218ab418fe, in abort ×2 + 10.57sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f218ab5e27d, in raise ×2 + 10.57sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f218abb7b2c, in pthread_kill ×2 + 10.57sERRORmove_groupAborted (Signal sent by tkill() 7738 0) ×2 + 10.57sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.57sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.58sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.58sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.58sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.58sINFOodom_qos_relay.pymain() ×2 + 10.58sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.58sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.58sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.58sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.58sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.58sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.58sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.58sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.58sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.58sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.58sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.58sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.59sINFOcontroller_serverCleaning up + 10.59sINFOlocal_costmap.local_costmapCleaning up + 10.59sERRORamclThe bond connection to the lifecycle manager has been broken + 10.63sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.63sINFOsmoother_serverDeactivating + 10.63sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.64sINFOsmoother_serverCleaning up + 10.65sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.65sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.65sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.65sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.65sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.65sINFOvelocity_smootherDeactivating + 10.65sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.66sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.66sINFOplanner_serverDeactivating + 10.66sINFOglobal_costmap.global_costmapDeactivating + 10.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.68sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.85sINFOwaypoint_followerDeactivating + 10.85sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.96sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.97sINFObt_navigatorDeactivating + 10.97sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.00sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.08sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.08sINFObehavior_serverDeactivating + 11.08sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.19sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.19sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.19sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.19sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.19sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.19sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.19sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.20sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.20sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.20sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.20sINFOvelocity_smootherCleaning up + 11.20sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.20sINFOwaypoint_followerCleaning up + 11.23sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.23sINFObt_navigatorCleaning up + 11.40sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7807] ×2 + 11.40sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.41sINFObt_navigatorCompleted Cleaning up + 11.41sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.41sINFObehavior_serverCleaning up + 11.46sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7793] ×2 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.47sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.47sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.47sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.48sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7792] ×2 + 11.49sINFOui_teleop_bridge-33process has finished cleanly [pid 7798] ×2 + 11.49sINFOexecute_objective_bridge-32process has finished cleanly [pid 7797] ×2 + 11.51sINFOcomponent_container_mt-31process has finished cleanly [pid 7796] ×2 + 11.51sINFOparameter_manager_node-25process has finished cleanly [pid 7790] ×2 + 11.53sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7722] ×2 + 11.53sINFOwaypoint_manager_node-26process has finished cleanly [pid 7791] ×2 + 11.54sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7721] ×2 + 11.54sINFOstatic_transform_publisher-9process has finished cleanly [pid 7639] ×2 + 11.55sINFOstatic_transform_publisher-8process has finished cleanly [pid 7638] ×2 + 11.56sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.56sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.56sINFOlidar_flattener.pymain() ×2 + 11.56sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.56sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.56sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.56sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.56sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.56sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.56sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.56sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.56sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.56sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.56sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.56sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.56sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.56sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.56sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.58sINFOobjective_server_node[2026-09-04 19:57:04.417] [moveit_pro_license] [critical] ×2 + 11.58sINFOobjective_server_node************************************************* ×4 + 11.58sINFOobjective_server_node* MoveIt Pro License ×2 + 11.58sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.59sINFOstatic_transform_publisher-4process has finished cleanly [pid 7634] ×2 + 11.59sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.59sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.60sINFOstatic_transform_publisher-3process has finished cleanly [pid 7633] ×2 + 11.60sINFOplanner_serverCleaning up + 11.60sERRORlidar_flattener.py-7process has died [pid 7637, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_y2czpkal']. ×2 + 11.62sINFOglobal_costmap.global_costmapCleaning up + 11.63sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.63sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.63sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7636] ×2 + 11.63sERRORodom_qos_relay.py-5process has died [pid 7635, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.65sINFOobjective_server_node_main-29process has finished cleanly [pid 7794] ×2 + 11.65sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.66sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.66sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.66sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.66sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.66sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.99sERRORcomponent_container_isolated-1process has died [pid 7631, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_o8r7oat3 --params-file /tmp/launch_params_p5sndhtf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.59sINFOcomponent_container_mt-30process has finished cleanly [pid 7795] ×2 + 12.98sERRORcomponent_container_isolated-2process has died [pid 7632, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_o8r7oat3 --params-file /tmp/launch_params_pu3w1lbg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.20sINFOros2_control_node-12process has finished cleanly [pid 7723] ×2 + 13.26sINFOweb_bridge-34process has finished cleanly [pid 7799] ×2 + 13.26sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 95 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186777 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186777 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359076 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359076 ms (missed cycles : 2).[0m ×2 + 1.23sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022953 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022953 ms (missed cycles : 4).[0m ×2 + 2.21sINFOjoint_trajectory_controllerGoal reached, success! + 2.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.22sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788551659.50387931 seconds ×3 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.33sWARNlocal_costmap.local_costmapSensor origin at (-2.08, 11.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.33sWARNlocal_costmap.local_costmapSensor origin at (-2.82, 11.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 2.53sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.53sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788551660.08529949 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.276ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911821 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911821 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388577 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388577 ms (missed cycles : 3).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590543 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590543 ms (missed cycles : 4).[0m ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381776 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381776 ms (missed cycles : 3).[0m ×2 + 6.43sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370125 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370125 ms (missed cycles : 3).[0m ×2 + 7.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 8.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.425ms + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782576 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782576 ms (missed cycles : 2).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.611ms + 9.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.957ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699827 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699827 ms (missed cycles : 2).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.286ms + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.085ms + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686087 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686087 ms (missed cycles : 2).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.592ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301949 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301949 ms (missed cycles : 2).[0m ×2 + 11.49sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.306ms + 12.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185345 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185345 ms (missed cycles : 2).[0m ×2 + 12.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.539ms + 13.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.04sINFOjoint_trajectory_controllerGot request to cancel goal + 13.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788551670.36871529 seconds ×3 + 13.13sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.68) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.13sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.30sINFOamclParticle filter update iteration stats: 4838 particles 723 points - 7.547ms + 13.33sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.33sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677881 ms (missed cycles : 3). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677881 ms (missed cycles : 3).[0m ×2 + 13.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788551670.95328975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.696ms + 14.07sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439009 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439009 ms (missed cycles : 3).[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855067 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855067 ms (missed cycles : 3).[0m ×2 + 16.69sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207854 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207854 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	66 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.71sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551568.74597740 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551569.33062291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.719ms + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2).[0m ×2 + 7.21sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105718 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105718 ms (missed cycles : 2).[0m ×2 + 8.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190876 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190876 ms (missed cycles : 2).[0m ×2 + 9.10sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788551575.11075521 seconds ×3 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308143 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308143 ms (missed cycles : 2).[0m ×2 + 10.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.63sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.66sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788551576.67953134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550366 ms (missed cycles : 3). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550366 ms (missed cycles : 3).[0m ×2 + 11.06sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593788 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593788 ms (missed cycles : 3).[0m ×2 + 12.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.32sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258733 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258733 ms (missed cycles : 2).[0m ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455227 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455227 ms (missed cycles : 4).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	73 warnings · 139 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214047 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214047 ms (missed cycles : 5).[0m ×2 + 0.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.776ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553694 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553694 ms (missed cycles : 3).[0m ×2 + 1.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 2.03sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938102 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938102 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 2.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 2.68sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788551734.85344410 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.74sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894017 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894017 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788551735.43359900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.34sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.11) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.992ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553437 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553437 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266086 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266086 ms (missed cycles : 4).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 7.23sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 7.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 9.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 9.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.68sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 12.37sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 12.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.2s	48 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551505.28974652 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551505.86723495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.57e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.06sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267749 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267749 ms (missed cycles : 4).[0m ×2 + 6.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 7.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122165 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122165 ms (missed cycles : 2).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 8.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551511.44738960 seconds ×3 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180662 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180662 ms (missed cycles : 2).[0m ×2 + 8.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.95sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 8.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551512.02584124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 9.53sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 2.560ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844580 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844580 ms (missed cycles : 3).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116832 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116832 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234836 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234836 ms (missed cycles : 2).[0m ×2 + 11.65sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 11.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	32 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733672 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733672 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 0.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.100ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.974ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.194ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551814.80616903 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551815.43073106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.66sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.949ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551816.06086349 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551816.63041139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551817.23053432 seconds ×3 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760249 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760249 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.39sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.92sINFOobjective_server_nodecaller: ×10 + 0.92sINFOobjective_server_nodetype: 0 ×10 + 0.92sINFOobjective_server_nodename: "" ×10 + 0.92sINFOobjective_server_nodeinstance_id: "" ×10 + 0.92sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.96sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.96sINFOmove_groupClearing octomap...[0m ×2 + 0.96sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.51sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 2.61sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269923 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269923 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	24 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551505.28974652 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551505.86723495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.57e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOjoint_trajectory_controllerReceived new action goal + 4.06sINFOjoint_trajectory_controllerAccepted new action goal + 4.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	24 warnings · 70 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057600 ms (missed cycles : 4).[0m ×2 + 0.48sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527155 ms (missed cycles : 2).[0m ×2 + 1.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584354 ms (missed cycles : 3).[0m ×2 + 2.22sINFOjoint_trajectory_controllerGoal reached, success! + 2.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788551505.28974652 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.79sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.79sINFOobjective_server_nodecaller: ×2 + 2.79sINFOobjective_server_nodetype: 0 ×2 + 2.79sINFOobjective_server_nodename: "" ×2 + 2.79sINFOobjective_server_nodeinstance_id: "" ×2 + 2.79sINFOobjective_server_node ×2 + 2.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788551505.86723495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673078 ms (missed cycles : 3).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.670ms + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.57e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.06sINFOjoint_trajectory_controllerReceived new action goal + 4.06sINFOjoint_trajectory_controllerAccepted new action goal + 4.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409720 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3).[0m ×2 + 5.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	25 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	29 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870079 ms (missed cycles : 3).[0m ×2 + 0.22sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267749 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267749 ms (missed cycles : 4).[0m ×2 + 1.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.370ms + 1.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122165 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122165 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788551511.44738960 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180662 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180662 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 3.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788551512.02584124 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 4.19sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 2.560ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844580 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844580 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116832 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116832 ms (missed cycles : 2).[0m ×2 + 5.34sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234836 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234836 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.37sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	37 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551568.74597740 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551569.33062291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.719ms + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	37 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551568.74597740 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551569.33062291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.719ms + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	37 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551568.74597740 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551569.33062291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.719ms + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	37 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551568.74597740 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551569.33062291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.719ms + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	37 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.743990 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510777 ms (missed cycles : 3).[0m ×2 + 2.16sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935964 ms (missed cycles : 3).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788551568.74597740 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722603 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788551569.33062291 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.719ms + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.04sINFOjoint_trajectory_controllerReceived new action goal + 4.04sINFOjoint_trajectory_controllerAccepted new action goal + 4.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644578 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003889 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170087 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	36 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 0.57sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.731ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551607.69966435 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551608.27373481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	36 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 0.57sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.731ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551607.69966435 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551608.27373481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	36 warnings · 74 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 0.57sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305853 ms (missed cycles : 3).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962953 ms (missed cycles : 3).[0m ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.731ms + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788551607.69966435 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712264 ms (missed cycles : 3).[0m ×2 + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.00sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.10sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.43sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.43sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.43sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.43sINFOobjective_server_nodecaller: ×2 + 3.43sINFOobjective_server_nodetype: 0 ×2 + 3.43sINFOobjective_server_nodename: "" ×2 + 3.43sINFOobjective_server_nodeinstance_id: "" ×2 + 3.43sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788551608.27373481 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936117 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297971 ms (missed cycles : 2).[0m ×2 + 5.86sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.14sINFOjoint_trajectory_controllerReceived new action goal + 6.14sINFOjoint_trajectory_controllerAccepted new action goal + 6.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837633 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	25 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	25 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	27 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777862 ms (missed cycles : 2).[0m ×2 + 0.89sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046689 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541004 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788551741.30372357 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412247 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.34sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.34sINFOobjective_server_nodecaller: ×2 + 3.34sINFOobjective_server_nodetype: 0 ×2 + 3.34sINFOobjective_server_nodename: "" ×2 + 3.34sINFOobjective_server_nodeinstance_id: "" ×2 + 3.34sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788551741.88514495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978424 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098176 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296169 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	29 warnings · 119 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733672 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733672 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 0.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.100ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885673 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.974ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319068 ms (missed cycles : 2).[0m ×2 + 2.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.194ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788551814.80616903 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138353 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788551815.43073106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.66sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.949ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710812 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788551816.06086349 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788551816.63041139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673913 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788551817.23053432 seconds ×3 + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754121 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 312 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.58sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.24sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 329 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.14sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.14sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.24sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.24sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.25sINFObehavior_serverActivating + 0.25sINFObehavior_serverActivating spin + 0.25sINFObehavior_serverActivating backup + 0.25sINFObehavior_serverActivating drive_on_heading + 0.25sINFObehavior_serverActivating assisted_teleop + 0.25sINFObehavior_serverActivating wait + 0.25sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.35sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.35sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.35sINFObt_navigatorActivating + 0.41sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.52sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.52sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.52sINFOwaypoint_followerActivating + 0.52sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.63sINFOvelocity_smootherActivating + 0.63sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.74sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.74sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.74sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.29sINFOobjective_server_nodecaller: ×10 + 3.29sINFOobjective_server_nodetype: 0 ×10 + 3.29sINFOobjective_server_nodename: "" ×10 + 3.29sINFOobjective_server_nodeinstance_id: "" ×10 + 3.29sINFOobjective_server_node ×10 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.98sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 335 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.10sINFOjoint_trajectory_controllerReceived new action goal + 7.10sINFOjoint_trajectory_controllerAccepted new action goal + 7.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	24 warnings · 326 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 0.14sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.14sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.24sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.24sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.25sINFObehavior_serverActivating + 0.25sINFObehavior_serverActivating spin + 0.25sINFObehavior_serverActivating backup + 0.25sINFObehavior_serverActivating drive_on_heading + 0.25sINFObehavior_serverActivating assisted_teleop + 0.25sINFObehavior_serverActivating wait + 0.25sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.35sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.35sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.35sINFObt_navigatorActivating + 0.41sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.52sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.52sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.52sINFOwaypoint_followerActivating + 0.52sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.62sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.62sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.63sINFOvelocity_smootherActivating + 0.63sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.74sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.74sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.74sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.29sINFOobjective_server_nodecaller: ×10 + 3.29sINFOobjective_server_nodetype: 0 ×10 + 3.29sINFOobjective_server_nodename: "" ×10 + 3.29sINFOobjective_server_nodeinstance_id: "" ×10 + 3.29sINFOobjective_server_node ×10 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.32sINFOmove_groupClearing octomap...[0m ×2 + 3.32sINFOmove_groupOctomap cleared.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.98sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.83sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	25 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	25 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	25 warnings · 329 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324787 ms (missed cycles : 2).[0m ×2 + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 4.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.84sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.69sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	22 warnings · 312 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584064 ms (missed cycles : 3).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 2.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.55sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.55sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.55sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.55sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.55sINFOobjective_server_nodecaller: ×10 + 2.55sINFOobjective_server_nodetype: 0 ×10 + 2.55sINFOobjective_server_nodename: "" ×10 + 2.55sINFOobjective_server_nodeinstance_id: "" ×10 + 2.55sINFOobjective_server_node ×10 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.58sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 4.24sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 5.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.09sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.50sINFOjoint_trajectory_controllerReceived new action goal + 6.50sINFOjoint_trajectory_controllerAccepted new action goal + 6.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269923 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269923 ms (missed cycles : 2).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976376 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788551459.65932202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.40sINFOmove_groupClearing octomap...[0m ×2 + 1.40sINFOmove_groupOctomap cleared.[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788551459.66964149 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936141 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788551460.24895501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788551460.25908971 seconds ×3 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788551460.83105731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755162 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788551460.98165488 seconds ×3 + 3.05sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788551461.57352877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788551461.63367963 seconds ×3 + 3.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542377 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.90sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.94sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788551462.20657873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104517 ms (missed cycles : 4).[0m ×2 + 5.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sINFOjoint_trajectory_controllerReceived new action goal + 5.31sINFOjoint_trajectory_controllerAccepted new action goal + 5.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410752 ms (missed cycles : 3).[0m ×2